Semantic map for indoor positioning system (floorplan enhancement with semantic SLAM)

• Main Author: Lim, Han Quan
• Other Authors: Lam Siew Kei
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
• Online Access: https://hdl.handle.net/10356/147869
• Institution: Nanyang Technological University

In navigation systems, the absence of GPS data poses an interesting challenge when it comes to managing drift. Systems such as ORB-SLAM manages this by performing Bundle Adjustment on loop closures, as such relatively accurate point-cloud maps may be generated from simple visual input only. In combi...